R${}^2$NMPC: A Real-Time Reduced Robustified Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets for Autonomous Vehicle Motion Control

Baha Zarrouki, João Nunes, Johannes Betz

In this paper, we present a novel Reduced Robustified NMPC (R${}^2$NMPC) algorithm that has the same complexity as an equivalent nominal NMPC while enhancing it with robustified cons…